CN103034282A - Active feedback user interface system and gimbal assembly therefor - Google Patents
Active feedback user interface system and gimbal assembly therefor Download PDFInfo
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- CN103034282A CN103034282A CN2012104762274A CN201210476227A CN103034282A CN 103034282 A CN103034282 A CN 103034282A CN 2012104762274 A CN2012104762274 A CN 2012104762274A CN 201210476227 A CN201210476227 A CN 201210476227A CN 103034282 A CN103034282 A CN 103034282A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/02—Initiating means
- B64C13/04—Initiating means actuated personally
- B64C13/042—Initiating means actuated personally operated by hand
- B64C13/0421—Initiating means actuated personally operated by hand control sticks for primary flight controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/24—Transmitting means
- B64C13/38—Transmitting means with power amplification
- B64C13/40—Transmitting means with power amplification using fluid pressure
- B64C13/48—Transmitting means with power amplification using fluid pressure characterised by the fluid being gaseous
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/24—Transmitting means
- B64C13/38—Transmitting means with power amplification
- B64C13/50—Transmitting means with power amplification using electrical energy
- B64C13/507—Transmitting means with power amplification using electrical energy with artificial feel
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
- G05G2009/04703—Mounting of controlling member
- G05G2009/04714—Mounting of controlling member with orthogonal axes
- G05G2009/04718—Mounting of controlling member with orthogonal axes with cardan or gimbal type joint
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
- G05G2009/04766—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks providing feel, e.g. indexing means, means to create counterforce
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20012—Multiple controlled elements
- Y10T74/20201—Control moves in two planes
Abstract
An active user interface system (100) includes a gimbal assembly that is configured as a dual-input/single-output differential mechanism. The differential mechanism implements a speed reduction from the inputs of the differential mechanism (132, 134) to the output of the differential mechanism. Speed reduction enables the maximum drive torque that is supplied to the user interface about one rotational axis to be N times greater than the maximum drive torque that is supplied to the user interface about another, perpendicular axis.
Description
Technical field
The present invention relates to user interface system, more specifically, relate to the active users interface system and be used for the gimbal assembly of active users interface system.
Background technology
The man-machine interface that converts the machine action for the action with the people to is used in numerous industry.For example, some aircraft flight control system comprises the man-machine interface that adopts one or more control lever forms.This flight control system in response to the Input Forces that the driver offers control lever, is controlled the motion of different aircraft flight chains of command.Regardless of concrete final use system, man-machine interface preferably includes the haptic feedback mechanism of some type, and it gives the interface user with feedback by the interface.This haptic feedback mechanism can be passive, active or the two has concurrently.This interface also generally includes one or more devices, and for example the gimbal assembly rotatablely moves in order to accurately angular displacement is converted into.
In many cases, be used for that the position, angle is converted into the device that rotatablely moves and be comparatively speaking more complicated, larger, heavier and relatively more expensive.Therefore, need to a kind of angular displacement be converted into the device that rotatablely moves, it is fairly simple comparatively speaking, and is smaller, low weight, more cheap.The object of the invention is to satisfy at least this demand.
Summary of the invention
In one embodiment, the active feedback user interface system comprises a plurality of motors, the first input mechanism, the second input mechanism, user interface driving mechanism and idler mechanism.Each motors designs becomes to provide the motor torsional moment around the first rotation when being applied in energy.The first input mechanism is designed to rotate around first axle.The first input mechanism is connected to receive the motor torsional moment that the first motor from a plurality of motors provides, and is designed to provide the first output torque based on its quantities received.The second input mechanism and the spaced apart installation of the first input mechanism, and be designed to rotate around the first rotation.The second input mechanism is connected to receive the motor torsional moment that the second motor from a plurality of motors provides, and is designed to provide the second output torque based on its quantities received.The user interface driving mechanism is designed to around the rotation of the second rotation, and the second rotation is coplanar and mutual vertical with the first rotation.The user interface driving mechanism is connected to receive respectively the first output torque and the second output torque from the first input mechanism and the second input mechanism.The spaced apart installation of idler mechanism and driving mechanism is designed to follow the user interface driving mechanism to rotate around the second rotation.The first input mechanism and the second input mechanism and driving mechanism are designed to carry out N: 1 reduction gear ratio, wherein N is greater than 1.
In another embodiment, around the active gimbal assembly of the controlled vehicles of axis and pitch axis that roll, it comprises the first motor, the second motor, the first input mechanism, the second input mechanism, user interface driving mechanism and idler mechanism at least.The first motors designs becomes to provide the first motor torsional moment around the rolling axis when being applied in energy, and the second motors designs becomes to provide the second motor torsional moment around the rolling axis when being applied in energy, and the first motor is identical motor with the second motor.The first input mechanism is designed to around the rotation of rolling axis.The first input mechanism is connected to receive the first motor torsional moment, and is designed to provide the first output torque based on its quantities received.The second input mechanism and the spaced apart installation of the first input mechanism are designed to around the rotation of rolling axis.The second input mechanism is connected to receive the second motor torsional moment, and is designed to provide the second output torque based on its quantities received.The user interface driving mechanism is designed to rotate around pitch axis, and the user interface driving mechanism is connected to receive respectively the first output torque and the second output torque from the first input mechanism and the second input mechanism.Idler mechanism and the spaced apart installation of user interface driving mechanism are designed to follow the user interface driving mechanism to rotate around pitch axis.The gimbal assembly also is designed to carry out by the N of first and second input mechanism to driving mechanism: 1 reduction gear ratio.
In another embodiment, the active feedback user interface system comprises user interface, the first motor, the second motor and gimbal assembly.User interface is suitable for receiving user's Input Forces, and is designed in response to user's Input Forces in one or two rotation in rolling axis and pitch axis on the sense of rotation, and the rolling axis is mutually vertical with pitch axis.The first motors designs becomes optionally to provide along the first motor torsional moment of rolling axis, and the second motors designs becomes optionally to provide along the second motor torsional moment of rolling axis.The gimbal assembly connects user interface and the first motor, the second motor.The gimbal component design becomes based on the first and second motor torsional moments that receive, and the first and second motor torsional moments are cumulative, provides the feedback force opposite with its sense of rotation to user interface.The gimbal assembly comprises the first input mechanism, the second input mechanism, user interface driving mechanism and idler mechanism.The first input mechanism has the first effective diameter, and is designed to rotate around the rolling axis.The first input mechanism is connected to receive the first motor torsional moment from the first motor, and is designed to provide the first output torque based on its quantities received.The second input mechanism and the spaced apart installation of the first input mechanism.The second input mechanism has the first effective diameter, is designed to around the rotation of rolling axis.The second input mechanism is connected to receive the second motor torsional moment from the second motor, and is designed to provide the second output torque based on its quantities received.The user interface driving mechanism has the second effective diameter, is designed to rotate around pitch axis.The user interface driving mechanism connects user interface and is further connected to receive respectively the first output torque and the second output torque from the first input mechanism and the second input mechanism.The user interface driving mechanism is designed to, based on the first output torque that receives and the second output torque, for user interface provides feedback force.Idler mechanism and the spaced apart installation of user interface driving mechanism have the second effective diameter, are designed to follow the user interface driving mechanism and rotate around the rolling axis with respect to user interface.The first effective diameter is less than the second effective diameter, thus around the maximum feedback power of pitch axis greater than the maximum feedback power around the rolling axis.
What further, other desired characteristics of user interface system and gimbal assembly and characteristic will be by the back is able to clear representing with detailed description and claims of aforementioned background art by reference to the accompanying drawings.
Description of drawings
The present invention will be described below with reference to accompanying drawing, and wherein identical Reference numeral represents identical element, wherein:
Fig. 1 is the FBD (function block diagram) of an example embodiment of active man-machine interface system;
Fig. 2 has shown can be used for the sketch of structure of an embodiment of gimbal assembly of the system among Fig. 1 that implements;
Fig. 3 has shown along the gimbal assembly shown in Figure 2 of the line 3-3 direction among Fig. 2;
Fig. 4 has shown the sketch with the aircraft of three orthogonal control axis;
Fig. 5 has shown the sketch of gimbal assembly, and it has showed the variation that rotatablely moves of different parts;
Fig. 6-13 has shown a plurality of views of embodiment of a special entity embodiment of gimbal assembly; And
Figure 14 and 15 has shown the example embodiment of an entity embodiment of the sensor that can be used for the sensing user Interface Motion.
Embodiment
Following detailed description is in essence only as example, and is not used as the restriction to the present invention or enforcement of the present invention or use.In this article, term " example " means " as example, demonstration or diagram ".Therefore, the embodiment of any being called as " example " is interpreted as more excellently, or is better than other embodiment.The embodiment of all descriptions is exemplary embodiment, and it is used for making those skilled in the art can make or utilize the present invention, and is not used for limiting the scope of the present invention by the claim definition.Further, the intent of the present invention is not subjected to the technical field by the front yet, background technology, the restriction of the theory of the expressed or hint of summary of the invention or follow-up detailed description.
In view of aforementioned, it is to be noted, although the description of back, for the purpose of convenience, be aimed at the gimbal assembly of implementing with the user interface that is designed to the control lever form, what should understand is, this system can implement with multiple heteroid user interface, user interface comprises for example heteroid pedal, pull bar, and support or other are similar.It is to be further understood that in any that this gimbal assembly can be in extensive application and use, gyroscope for example, these are used needs two degree of freedom.
Referring to accompanying drawing 1, wherein shown the FBD (function block diagram) of an exemplary active man-machine interface system 100.This system 100 comprises user interface 102, gimbal assembly 104, a plurality of motors 106 (for example, 106-1,106-2), and motor controller 108.User interface 102 is connected with gimbal assembly 104, and is designed in response to from user's input and move, and 110 move to a plurality of control positions along a plurality of direction of motion from the neutral position.
This gimbal assembly 104 links to each other with user interface 102, is designed to motion based on user interface 102 around two mutual vertical and coplanar rotations---the first rotation 112, and the second rotation 114 and rotating.Therefore, if user's mobile user interface 102 on forward direction 116 or backward directions 118, gimbal assembly 104 will be around 114 rotations of the second rotation.Similarly, if the user direction 122 left or on the right 124 mobile user interface, gimbal assembly 104 will be around 112 rotations of the first rotation.Can understand, gimbal assembly 104 also be designed to allow user interface 102 with compound front-left to, compound front-right, compound rear-left to, compound rear-right moves, get back to or by neutral position 110.
Come the motion at sensing user interface 102 by a plurality of user interface sensors 126 (for example, 126-1,126-2).This user interface sensor 126 can be connected to user interface 102, gimbal assembly 106 or connect simultaneously these two, and user interface sensor 126 is designed to provide user interface motor message 127.User interface sensor 126 can adopt multiple different form of implementation, adopts multiple known power sensor, position transducer or in the two any.Some suitable power sensors comprise, but be not limited to, strain-gage pickup, piezoelectric sensor, semiconductor transducer or optical sensor, only list sub-fraction herein, and including, but not limited to absolute receptor's position transducer, those suitable position transducers for example rotate variable differential sensor (RVDT), (displacement transducer) LVDT, pot or optical sensor.But preferred, user interface sensor 126 is embodied as and adopts magnetic resistance (MR) type position transducer.No matter how are the concrete quantity of user's interface sensor 126 and type, one of them sensor 126 is designed to provide the representative of consumer Interface Motion along the first rotation 112 (direction 116 namely, on 118) the user interface motor message 127 of vector component, and another sensor 126 is designed to provide the user interface motor message 127 of representative of consumer Interface Motion along the vector component of the second rotation 114 (namely on a left side or right 122,124).User interface motor message 127 offers not shown flight control computer (FCC), but in certain embodiments, these signals also can offer motor controller 108.
To be that each is arranged to motor 106, after being applied in energy, optionally provides the motor torsional moment around the first rotation 112 hereinafter in greater detail.In the embodiment that is described, a plurality of motors 106 comprise the first motor 106-1 and the second motor 106-2.Therefore, the first motor 106-1 is arranged to optionally provide the first motor torsional moment, and the second motor 106-2 is arranged to optionally provide the second motor torsional moment.A plurality of motors 106 are preferably identical, and preferably use multi-phase brushless DC motor to implement.Similarly, current feedback and the exchange signal 128 relevant with each motor 106 also can offer motor controller 108.
Gimbal assembly 104 except can also being designed to the motor torsional moment that cumulative motor 106 provides in response to user interface 102 motion and the rotation, and providing driving torque and feedback force and all offers user interface 102.Because the moment of torsion that offers user interface 102 from two motors 106, is therefore compared with existing known active feedback user interface system, the size of motor 106 can be smaller.In order to implement its function, gimbal assembly 104 is designed to dual input/single output difference actuation mechanism, and it can realize being subdued by the speed between the output that is input to differential attachment of differential attachment.The purpose that speed is subdued will further describe below.
Referring to accompanying drawing 2 and 3, wherein shown the reduced graph of the decision design of the gimbal assembly 104 that will describe.Can find out that the gimbal assembly 104 among the figure comprises the first input mechanism 132, the second input mechanisms 134, user interface driving mechanism 136 and idler mechanism 138 (not showing among Fig. 3).The first input mechanism 132 is designed to around 112 rotations of the first rotation, and it is connected to receive the first motor torsional moment that is provided by the first motor 106-1.Although the first motor 106-1 can adopt a kind of in the multiple suitable technology that the first motor torsional moment is offered the first input mechanism 132, in illustrated embodiment, employing be by the first axle 202 and the first motor output mechanism 204 the first motor torsional moment to be offered the first input mechanism 132.More specifically, the first axle 202 and 206 rotating connections of gimbal framework, it rotates around the first rotation 112 with respect to gimbal framework 206.The first axle 202 also non-rotatably is connected to the first input mechanism 132 and the first motor output mechanism 204.The first motor output mechanism 204 in illustrated embodiment, is embodied as the form that adopts with drive pulley, and it will pass to from the motor torsional moment of the first motor 106-1 the first axle 202.
The second input mechanism 134 and the first input mechanism 132 intervals are arranged, also are designed to around 112 rotations of the first rotation.The second input mechanism 134 is connected to receive the second motor torsional moment that is provided by the second motor 106-2.Similar with the first motor 106-1, the second motor 106-2 offers the second input mechanism 134 by the second axle 208 and the second motor output mechanism 212 with the second motor torsional moment in illustrated embodiment.The second axle 208 and 206 rotating connections of gimbal framework, it rotates around the first rotation 112 with respect to gimbal framework 206.The second axle 208 and the second input mechanism 134, the second motor output mechanisms 212 connect un-rotatably.The second motor output mechanism 212 in illustrated embodiment, is embodied as the form that adopts with drive pulley equally, and it will pass to from the second motor torsional moment of the second motor 106-2 the second axle 208.
No matter the first and second output torques are offered the first and second input mechanisms 132, how 134 concrete mode is, the first input mechanism 132 is designed to provide the first output torque based on the first motor torsional moment that receives, and the second input mechanism 134 is designed to provide the second output torque based on the second motor torsional moment that receives.The first motor torsional moment and the second output torque offer user interface driving mechanism 136 successively.
User interface driving mechanism 136 is designed to be connected around 114 rotations of the second rotation and with user interface 102.User interface driving mechanism 136 also is designed to provide driving torque and feedback force to user interface 102 based on the first and second motor torsional moments that receive.In order to implement this function, user interface driving mechanism 136 is at least in illustrated embodiment, with 214 irrotational connections of the 3rd axle.The 3rd axle 214 and 206 rotating connections of gimbal framework, to rotate around the second rotation 1114 with respect to gimbal framework 206, the 3rd axle 214 non-rotatably is connected with user interface 102.
Idler mechanism 138 is arranged spaced apart with user interface driving mechanism 136, and it is designed to respect to user interface 102 around 114 rotations of the second rotation.Idler mechanism 138 also is connected to receive respectively the first and second output torques from the first and second input mechanisms 132,134.But because idler mechanism 138 is rotatable with respect to user interface 102, it can not provide any driving torque or feedback force to user interface accordingly.Can from accompanying drawing 2,3, be easy to find out, idler mechanism 138 and 216 non-rotatable connections of the 4th axle, and the 4th axle 216 is connected with user interface all rotatable connections with gimbal framework 206.Thereby the 4th axle 216 rotates around the second rotation 114 with respect to gimbal framework 206 and user interface 102.
Before further specifying, it is pointed out that and to adopt in the multiple technologies any will be respectively to pass to user interface output mechanism 136 and idler mechanism 138 from the first output torque and second output torque of the first and second input mechanisms 132,134.For example, the first and second input mechanisms 132,134, user interface driving mechanism 136 and idler mechanism 138 can be designed to meshing gear mechanism.But in illustrated embodiment, the first input mechanism 132, the second input mechanisms 134, user interface driving mechanism 136 and idler mechanism 138 all are designed to be formed with on it pulley of rope groove 218.Rope 222 is arranged in the first input mechanism 132, the second input mechanisms 134, at least a portion of each rope groove 218 of driving mechanism 136 and idler mechanism 138.Can know, in certain embodiments, the first input mechanism 132, the second input mechanisms 134, can all have two rope grooves in driving mechanism 136 and the idler mechanism 138, have two ropes with the mode of a rope in the groove be arranged at least in part two rope grooves in.A rear embodiment can provide redundant in the inoperation situation that a rope lost efficacy.
From the above, be understood that easily, the dual input that the first and second input mechanisms 132,134 correspondences dual input/single output difference actuation mechanism, and user interface driving mechanism 136 correspondences single output.Deceleration between the output that is input to differential attachment of above mentioned differential attachment is to realize by the size that the size that makes user interface driving mechanism 136 is different from the first and second input mechanisms 132,134.More specifically, the effective diameter of user interface driving mechanism 136 and therefore the effective diameter of idler mechanism 138 greater than the effective diameter of the first and second input mechanisms 132,134.
No matter how gimbal assembly 104 designs specific implementation to slow down, be understandable that, its can be designed to adopt multiple by the first and second input mechanisms 132,134 to the reduction gear ratio of user interface driving mechanism 136 (for example, N: 1 reduction gear ratio, wherein N＞1) any one in.Therefore, as the first and second motor 106-1,106-2 is embodied as when adopting identical motor, N: 1 reduction gear ratio so that offer user interface 102 around the maximum drive torque N of the second rotation 114 doubly to offering the maximum drive torque of user interface 102 around the first rotation 112.In other words, when user interface 102 along the first rotation 112 directions move (for example before or after direction 116,118) time, the maximum feedback power that offers user interface 102 with N doubly to when its along the second rotation 114 directions (for example a left side or right 122, when 124) moving, offer the feedback force of user interface 102.Allow like this two motors 106 to be dimensioned to and satisfy around the required maximum drive torque of the first rotation 114 rotations, but still can realize around the required larger maximum drive torque of the first rotation rotation.
Except above-mentioned, gimbal assembly 104 comprises that preferably a plurality of passive feedback mechanisms feed back for user interface 102 provides the passive neutral position of getting back to.These passive feedback mechanisms provide one or more in the motor 106 not operate or provide for subsequent use of motor 106 when unavailable because of other reason.Be understandable that the quantity of passive feedback mechanism and type can have multiple, but in illustrated embodiment, it comprises the first spring 224 and the second spring 226.The first spring 224 links to each other with gimbal assembly 104, and being designed to user interface 102 provides the first restoring force to be used for opposing user interface 102 rotatablely moving around the first rotation 112.The second spring 226 also links to each other with gimbal assembly 104, provides the second restoring force to be used for opposing user interface 102 rotatablely moving around the second rotation 114 but be designed to user interface 102.The type of spring can be various, but in concrete preferred embodiment, the first and second springs 224,226 all are embodied as and adopt a plurality of springs.
To active man-machine interface system 100, and the explanation carried out of the general structure that comprises the gimbal assembly 104 of this system 100, below will further specify the running of system 100, more specifically, how motor controller 108 is designed to apply energy to one or two motor 106 selectively.When describing, suppose that first user interface 102 is to be in neutral position 110 at first.Suppose also that in addition user interface system 100 is installed in means of transport, for example on the aircraft shown in Fig. 4 402, it is at least around two vertical axis---and rolling axis 404 and pitch axis 406 are controlled.Such as common understanding, also around the axis of the 3rd quadrature, yaw axes 408 is controlled to aircraft 402, and for the purpose of complete, yaw axes 408 has also shown in Fig. 4.
Referring to accompanying drawing 5, wherein shown the reduced graph of the part of user interface 102 and gimbal assembly 104.Concrete, wherein shown the first and second input mechanisms 132,134, user interface driving mechanism 136 and idler mechanism 138.Should be pointed out that for convenient diagram and purpose for illustrative purposes only the user interface driving mechanism 136 that shows among the figure and idler mechanism 138 have and the first and second input mechanisms 132,134 diameters identical or that approach very much.
In conjunction with the background of front, and with reference to the accompanying drawings 5, if the driver on the aircraft 402 wishes to implement to bow action, the driver will be at mobile user interface 102 forward or on the nutation direction 502.For correct driving moment and feedback being provided for user interface 102, motor controller 108 in response to the user interface motor message that provides to it, will apply energy with in the opposite direction rotation will for simultaneously the first and second motor 106-1,106-2.Concrete, the first motor 106-1 will be applied in energy rotating around the first rotation on first direction 504, and the second motor 106-2 will be applied in energy to rotate around the first rotation on second direction 506.The corresponding like this user interface driving mechanism 136 that can cause rotates around the second rotation 114 on third direction 508.
Be understood that easily, the action if the driver wishes implement to come back, the driver will be at mobile user interface 102 backward or on the nose-up direction 512.For correct driving torque and feedback being provided for user interface 102, motor controller 108 in response to the user interface motor message that provides to it, will apply energy with in the opposite direction rotation also will for simultaneously the first and second motor 106-1,106-2.But the first motor 106-1 will be applied in energy rotating around the first rotation 112 on second direction 506, and the second motor 106-2 will be applied in energy with on first direction 504 around 112 rotations of the first rotation.As a result, user interface driving mechanism 136 will rotate around the second rotation 114 on to 514 in the four directions.
Now, if the driver wishes to implement tumbling action to the right, the driver will be at mobile user interface 102 on right or right rolling direction 516.For correct driving torque and feedback being provided for user interface 102, motor controller 108 in response to the user interface motor message that provides to it, will be given the first and second motor 106-1 simultaneously, and 106-2 applies energy to rotate in identical direction.Concrete, the first motor 106-1 and the second motor 106-2 will be applied in energy to rotate around the first rotation 112 on second direction 506.Therefore, user interface driving mechanism 136 will can not rotate around the second rotation 114.
Be understood that easily if the driver wishes to implement tumbling action left, the driver will be at mobile user interface 102 on left direction or the left rolling direction 518.For correct driving torque and feedback being provided for user interface 102, motor controller 108 in response to the user interface motor message that provides to it, also will be given the first and second motor 106-1 simultaneously, and 106-2 applies energy to rotate in identical direction.But the first motor 106-1 and the second motor 106-2 will be applied in energy to rotate around the first rotation 112 on first direction 504.Again, therefore user interface driving mechanism 136 will can not rotate around the second rotation 114.
Top operation is that the what is called of user interface 102 " is moved on the axle ".Also namely, the operation of user interface 102 is along the first rotation 112 or the second rotation 114.For user interface 102 both along rotation 112, again along the operation of rotation 114, it is claimed " striding the axle action ", motor controller 108 is designed to selectively only to apply energy with rotation to motor 106 one of them, or applies energy to rotate in identical or different direction with different rotational speeies simultaneously for selectively two motors 106.Activate one or two actually and all be applied in energy with rotation, and the direction of rotation, depend on the concrete vector motion of striding the axle action of user interface 102.
For example, if the driver wishes to implement nutation/right tumbling action, the driver will be on front-right or nutation/right rolling direction 522 mobile user interface 102.If nutation/right tumbling motion has comprised the vector component on pitch axis and roll axis that equates, motor controller 108 so, provide correct driving torque and feedback in order to give user interface 102, apply energy with rotation will only for the second motor 106-2.Concrete, the second motor 106-2 will be applied in energy to rotate around the first rotation 112 on second direction 506.And this will cause user interface driving mechanism 136 to rotate around the second rotation 114 on third direction 508 accordingly.But, if the vector component facing upward on axle and the roll axis that nutation/right tumbling motion comprises is unequal, motor controller 108 so, for correct driving torque and feedback being provided for user interface 102, to apply energy with rotation to two motors 106, but the two is in the opposite direction with different speed rotations.Concrete, the second motor 106-2 will be applied in energy, and the first motor 106-1 will be applied in energy to rotate at first direction 504 to rotate in second direction 506; Will be greater than the rotational speed of the first motor 106-1 but the second motor 106-2 is applied in the rotational speed that energy obtains.
In order to implement nutation/left tumbling action, the driver will front-left to or nutation/left rolling direction 524 on mobile user interface 102.If nutation/left tumbling motion has comprised the vector component on pitch axis and roll axis that equates, motor controller 108 so, provide correct driving torque and feedback in order to give user interface 102, apply energy with rotation will only for the first motor 106-1.Concrete, the first motor 106-1 will be applied in energy rotating around the first rotation 112 on first direction 504, and this will cause user interface driving mechanism 136 to rotate around the second rotation 114 on third direction 508 accordingly.But, if the vector component facing upward on axle and the roll axis that nutation/left tumbling motion comprises is unequal, motor controller 108 so, for correct driving torque and feedback being provided for user interface 102, to apply energy with in first direction 504 rotation to two motors 106, but the two is with different speed rotations.Concrete, the first motor 106-1 is applied in the rotational speed that energy obtains will be greater than the rotational speed of the second motor 106-2.
In order to implement to face upward/right tumbling action, the driver will or face upward in rear-right/right rolling direction 526 on mobile user interface 102.If face upward/right tumbling motion comprised the vector component on pitch axis and roll axis that equates, motor controller 108 so, for correct driving torque and feedback being provided for user interface 102, apply energy on second direction 506, to rotate around the first rotation 112 will only for the first motor 106-1.And this will cause user interface driving mechanism 136 to rotate around the second rotation 114 on to 514 in the four directions.But, if face upward/the vector component facing upward on axle and the roll axis that right tumbling motion comprises is unequal, motor controller 108 so, for correct driving torque and feedback being provided for user interface 102, to apply energy with rotation to two motors 106, but the two is in the opposite direction with different speed rotations.Concrete, the first motor 106-1 will be applied in energy, and the second motor 106-2 will be applied in energy in first direction 504 rotations to rotate in second direction 506; Will be greater than the rotational speed of the second motor 106-2 but the first motor 106-1 is applied in the rotational speed that energy obtains.
Be understood that easily, for facing upward/left tumbling action, the driver will rear-left to or face upward/left rolling direction 528 on mobile user interface 102.If face upward/left tumbling motion comprised the vector component on pitch axis and roll axis that equates, motor controller 108 so, for correct driving torque and feedback being provided for user interface 102, apply energy on first direction 504, to rotate around the first rotation 112 will only for the second motor 106-2.And this will cause user interface driving mechanism 136 to rotate around the second rotation 114 on to 514 in the four directions.But, if face upward/the vector component facing upward on axle and the roll axis that left tumbling motion comprises is unequal, motor controller 108 so, for correct driving torque and feedback being provided for user interface 102, to apply energy with in first direction 504 rotation to two motors 106, but the two is with different speed rotations.Concrete, the second motor 106-2 is applied in the rotational speed that energy obtains will be greater than the rotational speed of the first motor 106-1.
Above-described active users interface system 100 can adopt in the multiple structure any one to come entity to implement.Be in complete consideration, shown among Fig. 6-13 not with the concrete physical embodiment of motor controller 108 with the active users interface system 100 that is electrically connected each other, and will carry out briefly bright.Before this, should be pointed out that same parts among the identical reference numbers designate accompanying drawing 1-5 among the accompanying drawing 6-13.And, will no longer be described in detail for the parts of having described before.
At first referring to accompanying drawing 6 and 7, gimbal assembly 104 and motor 106 preferably are installed in the housing unit 602, and user interface extends through housing unit 602 and links to each other with handle 604.In addition, gimbal assembly 104 rotatable being installed on the bedframe 702, and motor 106 non-rotatably is installed on the bedframe 702.More specifically, such as 8 clear displayings of accompanying drawing, the first and second axles 202,208 preferably are rotatably installed on gimbal framework 206 and the bedframe 702 by soaking carbon plastic gasket 802.In addition, such as Fig. 9, shown in 10, the 3rd axle 214 rotatable being installed on the gimbal framework 206, the 4th axle 216 is rotatable to be installed on the gimbal framework 206 and to be installed on the user interface 102, equally preferably installs by means of soaking carbon plastic gasket 802.
Referring to accompanying drawing 11, wherein shown the structure of the first motor output mechanism 204, and the first spring 224 and the second spring 226.Although fail to display clearly in accompanying drawing 11 as the first motor output mechanism 204, what should understand is that the second motor output mechanism 212 and the first motor output mechanism 204 are basic identical.The first input mechanism 132, the second input mechanisms 134, the mode of the structure of user interface driving mechanism 136 and idler mechanism 138 and rope 222 and rope 222 winding is thereon all shown in accompanying drawing 12.Shown user interface motion sensor 126-1 among Figure 13,126-2 is installed to the mode on the gimbal assembly 104.For complete purpose, Figure 14 has shown the certain preferred embodiments of user interface motion sensor 126 in 15.
The user interface motion sensor 126 that shows comprises magnetic part 1402 and Sensor section 1404.Magnetic part 1402 comprises magnet mounting structure 1406, and one or more magnet 1408 are installed on it.Sensor section 1404 comprises sensor fixing structure 1412, and a plurality of MR sensors 1414 are installed on it.Adjacent but the installation that is spaced from each other of magnetic part 1402 and Sensor section 1404.The relative motion of the one or more magnet 1408 of MR sensor 1414 sensings.
Active users interface system 100 disclosed herein is fairly simple comparatively speaking, small and exquisite, and lightweight is cheap.It has realized N: thus 1 reduction gear ratio so that supply with user interface 102 around the maximum drive torque N of the second rotation 114 doubly to offering the maximum drive torque of user interface 102 around the first rotation 112.So that can use identical motor 106, allow two motors 106 to be dimensioned to and satisfy around the required maximum drive torque of the first rotation 114 rotations like this, but still can obtain larger to rotate required maximum drive torque around the first rotation.
Term " example " only is interpreted as " as example, demonstration or diagram " in this article.The embodiment of any being called as " example " is interpreted as more excellently, or is better than other embodiment.In addition, in this article, related term for example first and second and other similar terms all only as the usefulness that entity or action and other entities or active region are separated, and do not mean that and require or there is the relativeness of any essence or sequentially in hint between entity or action.Numerical order such as " first " " second " " the 3rd " etc. only are used as and from a plurality of individualities different single individualities are simply distinguished, unless the requirement specific description of having the right, otherwise all do not represent to have any order and sequence.In addition, depend on context, the term when the relativeness of describing between the different elements for example " connection " or " linking to each other " is not hinting necessarily have direct physical connection between these element.For example, what two elements can physics, electronics, in logic or in other any modes, be connected with each other by one or more add ons.
Although occurred in front more than one example embodiment in the detailed description of the invention, what should understand is also to have a large amount of distortion.Should understand that example embodiment or example embodiment only are examples, it is not used as and limits by any way setting of the present invention, uses and scope.On the contrary, these detailed descriptions of front will facilitate for those skilled in the art implement example embodiment of the present invention.Should know, have under the subsidiary claim restricted portion not breaking away from, can carry out multiple variation to arrangements of elements and the function described in the example embodiment.
Claims (10)
1. an active feedback user interface system (100), it comprises:
A plurality of motors (106), each motor (106) is configured to provide the motor torsional moment around the first rotation (112) when being applied in energy;
The first input mechanism (132), it is configured to rotate around first axle (112), the first input mechanism (132) is connected to receive the motor torsional moment that provides from the first motor in a plurality of motors (106), and is configured to provide the first output torque based on quantities received
The second input mechanism (134), itself and the spaced apart installation of the first input mechanism (132), be configured to rotate around the first rotation (112), the second input mechanism (134) is connected to receive the motor torsional moment that provides from the second motor in a plurality of motors (106), and is configured to provide the second output torque based on quantities received;
User interface driving mechanism (136), it is configured to rotate around the second rotation (114), the second rotation (114) is coplanar and mutual vertical with the first rotation (112), and user interface driving mechanism (136) is connected to receive respectively the first output torque and the second output torque from the first input mechanism (132) and the second input mechanism (134); And
Idler mechanism (138), itself and the spaced apart installation of user interface driving mechanism (136) are configured to follow user interface driving mechanism (136) around the second rotation (114) rotation,
Wherein, the first input mechanism (132) and the second input mechanism (134) and user interface driving mechanism (136) are configured to implement the reduction gear ratio of N:1, and wherein N is greater than 1.
2. system according to claim 1 (100) is characterized in that, the first and second input mechanisms (132 and 134) have the first diameter, and user interface driving mechanism (136) and idler mechanism (138) respectively have Second bobbin diameter; And that Second bobbin diameter is the N of the first diameter is doubly large.
3. system according to claim 1 (100) also comprises: motor controller (108), it is connected to and is configured to apply selectively energy to one or more in a plurality of motors (106).
4. system according to claim 3 (100), also comprise: user interface (102), it connects user interface driving mechanism (136), user interface (102) is suitable for receiving user's Input Forces, and be configured in response to user's Input Forces in upper one or two rotation in the first rotation (112) and the second rotation (114) of sense of rotation (502), wherein, described a plurality of motor (106) is identical, controller also be configured to optionally apply energy is given a plurality of motors (106) so that:
When user interface (102) only when the first rotation (112) rotates, a plurality of motors (106) rotate at equidirectional (502) simultaneously; And
When user interface (102) only when the second rotation (114) rotates, a plurality of motors (106) rotate simultaneously in the opposite direction.
5. system according to claim 4 (100) is characterized in that, described controller also is configured to, when user interface (102) simultaneously when the first and second rotations (112) rotate, optionally apply energy to:
In a plurality of motors (106) only one with the rotation;
In a plurality of motors (106) whole two with along opposite direction rotation; Perhaps
In a plurality of motors (106) whole two to rotate along identical direction (502).
6. system according to claim 1 (100) is characterized in that:
The first input mechanism (132), the second input mechanism (134), driving mechanism (136) and idler mechanism (138) all are configured to have on it pulley of rope groove (218); And
System (100) also comprises rope (222), it is arranged in the first input mechanism (132), the second input mechanism (134) is at least a portion of each rope groove (218) of driving mechanism (136) and idler mechanism (138).
7. system according to claim 1 (100) also comprises:
The first spring (224), it links to each other with gimbal assembly (104), and being constructed to user interface (102) provides the first restoring force to be used for opposing user interface (102) rotatablely moving around the first rotation (112); And
The second spring (226), it links to each other with gimbal assembly (104), and being constructed to user interface (102) provides the second restoring force to be used for opposing user interface (102) rotatablely moving around the second rotation (114).
8. system according to claim 1 (100) also comprises:
Primary importance sensor (126), it links to each other with gimbal assembly (104), is configured to sensing user interface (102) rotatablely moving around the first rotation (112); And
Second place sensor (126), it links to each other with gimbal assembly (104), is configured to sensing user interface (102) rotatablely moving around the second rotation (114).
9. system according to claim 1 (100) is characterized in that, described gimbal assembly (104) also comprises:
Gimbal framework (206);
The first axle (202), it links to each other with gimbal framework (206) rotation, and be configured to rotate around the first rotation (112) with respect to it, the first axle (202) and non rotatable linking to each other of the first input mechanism (132), and further connected to receive the motor torsional moment from the first motor in the motor (106);
The second axle (208), it links to each other with gimbal framework (206) rotation, and be configured to rotate around the first rotation (112) with respect to it, the second axle (208) and non rotatable linking to each other of the second input mechanism (134), and further connected to receive the motor torsional moment from the second motor in the motor (106);
The 3rd axle (214), it links to each other with gimbal framework (206) rotation, and be configured to rotate the 3rd axle (214) and driving mechanism (136) and non rotatable linking to each other of user interface (102) around the second rotation (114) with respect to it; With
The 4th axle (216), it links to each other with gimbal framework (206) and user interface (102) rotation, and be configured to rotate the 4th axle (216) and non rotatable linking to each other of idler mechanism (138) around the second rotation (114) with respect to it.
10. system according to claim 10 (100) also comprises:
The first motor output mechanism (204), it is connected between the first motor and the first axle (202) in the motor (106), and the first motor output mechanism (204) is configured to the motor torsional moment from the first motor in the motor (106) is passed to the first axle (202); With
The second motor output mechanism (212), it is connected between the second motor and the second axle (208) in the motor (106), and the second motor output mechanism (212) is configured to the motor torsional moment from the second motor in the motor (106) is passed to the second axle (208).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US13/240,933 US8742711B2 (en) | 2011-09-22 | 2011-09-22 | Active feedback user interface system and gimbal assembly therefor |
| US13/240933 | 2011-09-22 | ||
| US13/240,933 | 2011-09-22 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103034282A true CN103034282A (en) | 2013-04-10 |
| CN103034282B CN103034282B (en) | 2016-01-13 |
Family
ID=47178464
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210476227.4A Expired - Fee Related CN103034282B (en) | 2011-09-22 | 2012-09-21 | Active feedback user interface system and for its gimbal assembly |
Country Status (3)
| Country | Link |
|---|---|
| US (1) | US8742711B2 (en) |
| EP (1) | EP2572980A3 (en) |
| CN (1) | CN103034282B (en) |
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| CN105116961A (en) * | 2015-07-21 | 2015-12-02 | 东南大学 | Intelligent force feedback handle and control method thereof |
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| WO2015001320A1 (en) * | 2013-07-01 | 2015-01-08 | Bae Systems Plc | Inceptor and method for operating an inceptor |
| US9643719B2 (en) * | 2015-06-24 | 2017-05-09 | Bell Helicopter Textron Inc. | Electro-rheological elastomeric, variable-stiffness flight control device |
| US10118688B2 (en) | 2015-08-18 | 2018-11-06 | Woodward, Inc. | Inherently balanced control stick |
| US10331218B2 (en) * | 2016-09-15 | 2019-06-25 | Real Simple Ideas, Llc | Gyroscope motion feedback device |
| GB201912996D0 (en) * | 2019-09-09 | 2019-10-23 | Robinson Nicholas Paul | Control system 2 |
| JP1697441S (en) * | 2020-12-01 | 2021-10-18 | ||
| DE102021120319A1 (en) | 2021-03-16 | 2022-09-22 | Inventus Engineering Gmbh | Operating device with at least one pivotable operating lever |
| DE102021110086A1 (en) | 2021-04-21 | 2022-10-27 | Karl Storz Se & Co. Kg | Manually operable control device and medical instrument with such a control device |
| DE102021115884A1 (en) * | 2021-06-18 | 2022-12-22 | elobau GmbH & Co.KG | Adaptive control module |
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Also Published As
| Publication number | Publication date |
|---|---|
| EP2572980A2 (en) | 2013-03-27 |
| EP2572980A3 (en) | 2017-11-15 |
| CN103034282B (en) | 2016-01-13 |
| US8742711B2 (en) | 2014-06-03 |
| US20130074631A1 (en) | 2013-03-28 |
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